Drive mechanism and robot

Abstract

This disclosure provides a drive mechanism and a robot, belonging to the field of robotics. The drive mechanism includes a drive component; a transmission component connected to the output end of the drive component, the transmission component having a drive groove extending circumferentially along the transmission component; and a swing component for movably connecting to the robot's body, a portion of the swing component being movably connected to the drive groove, used to drive the swing component to swing along the drive groove via the movement of the transmission component. When the drive component drives the transmission component, the drive groove and the swing component cooperate, causing the portion of the swing component movably connected to the drive groove to move along the drive groove, thereby driving the swing component to swing. This drive mechanism has a simple structure, small size, saves space, and has low cost, which helps reduce production costs.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a drive mechanism and a robot. Background Technology

[0002] With the development of technology, robots are not only used in industrial production, but are also gradually entering people's daily lives.

[0003] Robots typically have movable parts attached to their bodies, such as the tails of robotic cats, dogs, and fish, and the ears of robotic cats and dogs. In simpler robots, these movable parts, like tails and ears, are usually just hanging on the body as decorations and cannot move on their own; they can only be moved by the user's hand.

[0004] Currently, to enable these moving parts to actually move, one or two servos are usually installed on the fuselage, with each servo controlling the movement of the moving parts in two different directions. This structural form occupies a large space and is also expensive. Summary of the Invention

[0005] This disclosure provides a drive mechanism and robot that can save space and reduce production costs. The technical solution is as follows:

[0006] On one hand, embodiments of this disclosure provide a driving mechanism, which includes:

[0007] Drive components;

[0008] A transmission component is connected to the output end of the drive component, and the transmission component has a drive groove that extends circumferentially along the transmission component.

[0009] A swinging component is used to be movably connected to the robot's body. A portion of the swinging component is movably connected to the drive groove and is used to move along the drive groove via the transmission component, thereby driving the swinging component to swing.

[0010] In one possible implementation of this disclosure, the swing member includes:

[0011] A swing section for connecting to the fuselage;

[0012] The linkage has two opposite ends, one end of which is connected to the swinging part, and the other end is located in the drive groove.

[0013] In one possible implementation of this disclosure, the swinging part includes at least:

[0014] The first part has opposite ends, and one end of the first part is used for movably connecting with the fuselage;

[0015] The second part has two opposite ends, and one end of the second part is connected to the other end of the first part, and the second part is connected to the linkage part;

[0016] The third part is connected to the other end of the second part.

[0017] In one possible implementation of this disclosure, the centerlines of the first part and the second part are coplanar and form a first preset angle;

[0018] And / or, the centerline of the third part is coplanar with the centerline of the second part and forms a second preset angle.

[0019] In one possible implementation of the present disclosure, a hinge portion is provided at one end of the first part.

[0020] In one possible implementation of this disclosure, the linkage includes:

[0021] The connecting part has two opposite ends, one end of which is connected to the swing part;

[0022] The sliding part is connected to the other end of the connecting part and is located in the drive groove.

[0023] In one possible implementation of this disclosure, the transmission element is a cam, and the drive groove is disposed around the outer peripheral wall of the cam.

[0024] Optionally, the drive groove includes a first segment, which is sinusoidal in shape on the unfolded surface of the outer peripheral wall.

[0025] In one possible implementation of this disclosure, on a plane perpendicular to the rotation axis of the transmission member, the outer contour of the transmission member includes: a first side, a second side, and a third side. One end of the second side is transitionally connected to one end of the first side, the other end of the second side is transitionally connected to one end of the third side, and the other end of the third side is transitionally connected to the other end of the first side. The first side is an arc edge, and the center of the first side is located on the rotation axis of the transmission member.

[0026] Optionally, the transmission component includes: a first transmission part and a second transmission part disposed opposite to each other, the first transmission part and the second transmission part being connected to form the drive groove.

[0027] Optionally, the first transmission part has a first guide groove, the second transmission part has a second guide groove, and the first guide groove and the second guide groove form the drive groove.

[0028] Optionally, the drive slot includes:

[0029] In the first segment, on the unfolded surface of the outer peripheral wall, at least a portion of the first segment extends at a direction that forms a third predetermined angle with the rotation axis of the transmission component; and / or,

[0030] The second segment, on the unfolded surface of the outer peripheral wall, extends at a fourth preset angle to the rotation axis of the transmission component.

[0031] On the other hand, embodiments of this disclosure also provide a robot, the robot including a body and a drive mechanism as described in the preceding aspect;

[0032] The driving component of the driving mechanism is connected to the machine body, and the swing component is movably connected to the machine body.

[0033] Optionally, the outer wall of the fuselage is connected to a hinge support, and the swinging member is connected to the hinge support.

[0034] The beneficial effects of the technical solutions provided in this disclosure include at least the following:

[0035] In this embodiment, the transmission component has a circumferentially extending drive groove, and a portion of the swing component is movably connected to the drive groove. When the drive component drives the transmission component to move, the drive groove and the swing component cooperate to cause the portion of the swing component movably connected to the drive groove to move along the drive groove, thereby causing the swing component to swing. This drive mechanism has a simple structure, small size, saves space, and has a low cost, which helps to reduce production costs. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the structure of a robot provided in an embodiment of this disclosure;

[0038] Figure 2 This is a schematic diagram of the structure of a drive mechanism provided in an embodiment of this disclosure;

[0039] Figure 3 yes Figure 2 An enlarged schematic diagram of the drive mechanism in the diagram;

[0040] Figure 4 This is a schematic diagram of the structure of a swinging component provided in an embodiment of this disclosure;

[0041] Figure 5 This is a schematic diagram showing the unfolded outer peripheral wall of a cam according to an embodiment of the present disclosure;

[0042] Figure 6 This is a schematic diagram of the structure of a cam provided in an embodiment of this disclosure;

[0043] Figure 7 This is a schematic diagram of the structure of a cam provided in an embodiment of this disclosure;

[0044] Figure 8 This is a schematic diagram showing the connection between the first transmission unit and the second transmission unit provided in an embodiment of this disclosure;

[0045] Figure 9 This is a partial structural diagram of a robot provided in an embodiment of this disclosure. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0047] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” “third,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar terms mean that the element or object preceding “comprising” or “including” encompasses the element or object listed following “comprising” or “including” and its equivalents, and do not exclude other elements or objects. The terms “connected” or “linked” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms “upper,” “lower,” “left,” “right,” etc., are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described object changes.

[0048] Figure 1 This is a schematic diagram of the structure of a robot provided in an embodiment of this disclosure. The robot can be, but is not limited to, automated machines such as robotic dogs, robotic cats, or robotic fish. It should be noted that this disclosure does not limit the type of robot.

[0049] like Figure 1As shown, the robot includes a body 10 and movable parts 20. The movable parts 20 can be a tail, ears, wings, etc. As an example, this embodiment of the disclosure uses a robot dog as an example, where the movable part 20 is a tail. The movable part 20 is connected to the body 10 via a drive mechanism to move under the drive of the drive mechanism, or a portion of the drive mechanism can be set as a movable part. It should be noted that the drive mechanism can be used on movable parts of the robot that have a swinging function. Besides the examples described above, the drive mechanism can also be applied to other movable parts; the above description is merely an example and not a limitation.

[0050] Figure 2 This is a schematic diagram of the structure of a drive mechanism provided in an embodiment of this disclosure. Figure 2 To better illustrate the relationship between the drive mechanism and the fuselage 10, the fuselage 10 is also shown. For example... Figure 2 As shown, the drive mechanism includes a drive component 30, a transmission component 40, and a swing component 70.

[0051] The transmission member 40 is connected to the output end of the drive member 30. The transmission member 40 has a drive groove 40b that extends circumferentially along the transmission member 40.

[0052] The swing member 70 is movably connected to the robot's body 10. A portion of the swing member 70 is movably connected to the drive groove 40b, and this portion is used to move along the drive groove 40b via the transmission member 40, causing the swing member 70 to swing. That is, the drive member 30 drives the transmission member 40 to move, and when the transmission member 40 moves, the portion of the swing member 70 movably connected to the drive groove 40b moves along the drive groove 40b, causing the entire swing member 70 to swing.

[0053] In this embodiment, the transmission component 40 has a drive groove 40b, and a portion of the swing component 70 is movably connected to the drive groove 40b. When the drive component 30 drives the transmission component 40 to move, the drive groove 40b and the swing component 70 cooperate to cause the portion of the swing component 70 movably connected to the drive groove 40b to move along the drive groove 40b, thereby causing the swing component 70 to swing. By connecting the movable component 20 to the swing component 70, or by directly setting a portion of the swing component 70 as the movable component 20, the movable component 20 of the robot can be driven to move. This drive mechanism has a simple structure, small size, saves space, and has low cost, which helps to reduce production costs.

[0054] Figure 3 yes Figure 2 An enlarged schematic diagram of the drive mechanism. (See attached diagram.) Figure 3 As shown, the swing member 70 includes a swing part 50 and a linkage part 60.

[0055] The swing part 50 is used to connect to the body 10. The linkage part 60 has opposite ends, one end of which is connected to the swing part 50, and the other end is located in the drive groove 40b.

[0056] The swinging part 50 is movably connected to the robot's body 10. During the movement of the transmission component 40, the transmission component 40 drives the linkage part 60 through the drive groove 40b, causing the linkage part 60 to move along the drive groove 40b. The linkage part 60 drives the swinging part 50 to move, enabling the swinging part 50 to swing relative to the robot's body 10.

[0057] Figure 4 This is a schematic diagram of the structure of a swinging component provided in an embodiment of this disclosure. Figure 4 As shown, the swinging part 50 of the swinging member 70 includes at least a first part 51, a second part 52, and a third part 53. The first part 51 has opposite ends, and one end of the first part 51 is movably connected to the fuselage 10. The second part 52 has opposite ends, and one end of the second part 52 is connected to the other end of the first part 51. The second part 52 is connected to the linkage part 60. The third part 53 is connected to the other end of the second part 52.

[0058] In this embodiment, the swinging part 50 is rod-shaped. A first part 51, a second part 52, and a third part 53 are connected sequentially. One end of the first part 51 is movably connected to the body 10. The linkage part 60 is connected to the second part 52 located in the middle, enabling relatively stable movement of the swinging part 50. The third part 53 is used to connect to the movable component 20, or the third part 53 can be configured as a movable component, for example, by providing decorative elements on the surface of the third part 53 to form a tail, ears, or other shapes. By configuring the swinging part 50 as three sequentially connected parts, the movement trajectory of the third part 53 can be adjusted by adjusting the included angle between these three parts, so that the movement trajectory of the movable component 20 is closer to the design requirements.

[0059] Optionally, the center lines of the first part 51 and the second part 52 are coplanar and form a first preset angle, which is greater than 0° and less than 180°. For example, the first preset angle can be 120°.

[0060] The centerline of the third part 53 is coplanar with the centerline of the second part 52 and forms a second preset angle. The second preset angle is greater than 0° and less than 180°, for example, the second preset angle can be 120°.

[0061] The first preset angle and the second preset angle can be equal or unequal. The specific values ​​of the first preset angle and the second preset angle can be set according to specific needs to make the movement trajectory of the moving part 20 closer to the design requirements. It should be noted that this disclosure does not limit the range of values ​​for the first preset angle and the second preset angle. The above description of the range of values ​​for the first preset angle and the second preset angle is only an example and not a limitation.

[0062] In some examples, the swing part 50 can have a certain degree of elasticity. For example, the swing part 50 is a rubber rod, or the third part 53 of the swing part 50 is a rubber rod. This allows the swing part 50 to sway due to its own elasticity during movement, making the robot more realistic.

[0063] When setting up the robot, the first part 51 and the second part 52 of the swinging part 50, the transmission component 40 and the driving component 30 can all be covered by other structures of the robot, such as baffles, shells, etc., so that only the third part 53 is exposed to connect the moving part 20, so as to make the robot more realistic.

[0064] like Figure 4 As shown, a hinge portion 511 is provided at one end of the first part 51 of the swing portion 50.

[0065] The swing part 50 has a hinge part 511 at one end for hinged to the robot body. This facilitates the hinge part 50 and the robot body 10 to be hinged together using the hinge part 511.

[0066] For example, the hinge part 511 can be a structure with hinge function such as a ball head or a hemispherical head. By hinged through the ball head, the swing part 50 has a higher degree of freedom and a larger range of motion, which is beneficial to increasing the range of motion of the moving part 20.

[0067] like Figure 4 As shown, in the swing member 70, the linkage part 60 includes a connecting part 61 and a sliding part 62. The connecting part 61 has two opposite ends, one end of which is connected to the swing part 50, and the sliding part 62 is connected to the other end of the connecting part 61. The sliding part 62 is located in the drive groove 40b.

[0068] The sliding part 62 is engaged with the drive groove 40b. When the transmission member 40 moves, the sliding part 62 slides along the drive groove 40b, thereby driving the swing part 50 to move through the connecting part 61.

[0069] In this embodiment, the connecting part 61 is rod-shaped or plate-shaped, and the sliding part 62 can be a ball head or a roller. One end of the connecting part 61 is connected to the swing part 50, and the other end is connected to the ball head. The ball head has low resistance to movement within the drive groove 40b, which allows the swing member 70 to move a wider range.

[0070] like Figure 3 As shown in this embodiment, the transmission component 40 is a cam, and the drive groove 40b is arranged around the outer peripheral wall 40a of the cam.

[0071] In this embodiment, the drive mechanism includes a drive member 30, a cam, and a swing member 70. The swing member 70 includes a swinging part 50 and a linkage part 60. The drive member 30 is used to connect to the robot's body 10. The drive member 30 can be a motor, and the output end of the drive member 30, that is, the motor's rotating shaft, is connected to the cam, with the cam's rotation axis m coaxial with the motor's rotating shaft.

[0072] The linkage part 60 is connected to the middle of the swing part 50, and the sliding part 62 of the linkage part 60 is located in the drive groove 40b. Under the rotation of the cam, the sliding part 62 moves along the drive groove 40b, causing the swing part 50 to swing.

[0073] Figure 5 This is a schematic diagram showing the unfolded outer peripheral wall of a cam according to an embodiment of this disclosure. Figure 5 As shown, the drive slot 40b includes a first segment 401.

[0074] In some examples, on the unfolded surface of the outer peripheral wall 40a, the extension direction of at least a portion of the first segment 401 forms a third predetermined angle with the rotation axis m of the transmission member 40.

[0075] The outer peripheral wall 40a of the cam is a cylindrical surface. The unfolded surface of the outer peripheral wall 40a refers to the plane obtained by cutting the outer peripheral wall 40a along a generatrix and then flattening the cut outer peripheral wall 40a.

[0076] During the rotation of the cam, the movement of the linkage 60 is affected by two factors: the shape of the cam and the shape of the drive groove 40b.

[0077] The shape of a cam refers to the undulation of its outer peripheral wall 40a, which is the change in distance from the outer peripheral wall 40a of the cam to the rotation axis m of the cam.

[0078] The undulations of the outer peripheral wall 40a of the cam affect the distance between the linkage 60 and the rotation axis m of the cam, causing the linkage 60 to move radially in the cam. The radial direction of the cam refers to the direction perpendicular to the rotation axis m of the cam, pointing outward from the rotation axis m of the cam, or from the outside of the cam to the rotation axis m of the cam.

[0079] Since the extension direction of at least a portion of the first segment 401 forms a third preset angle with the rotation axis m of the transmission member 40, by adjusting the size of the third preset angle so that it is not equal to 90°, the linkage 60 moves in the first segment 401 and is pushed by the side wall of the drive groove 40b, thus creating a motion component parallel to the rotation axis m of the cam. Therefore, by setting the first segment 401 and setting a suitable third preset angle, the linkage 60 can move not only radially in the cam but also axially in the cam, that is, in a direction parallel to the rotation axis m of the cam.

[0080] By changing the shape of the cam and the shape of the first segment 401, the movement trajectory of the linkage 60 can be changed, thereby changing the movement law of the swinging part 50, so that the moving part 20, such as the tail, moves in the required manner.

[0081] During the movement of the moving part 20, the movement of the moving part 20 can also be adjusted by changing the direction and / or speed of the driving component 30, so that the movement of the moving part 20 better meets the design requirements.

[0082] In some examples, the first segment 401 is curved on the unfolded surface of the outer peripheral wall 40a of the cam, and the motion trajectory of the linkage 60 in the drive groove 40b is more complex, enabling the robot's moving parts 20 to generate more complex motion trajectories.

[0083] Optionally, on the unfolded surface of the outer peripheral wall 40a, the first segment 401 is sinusoidal in shape. That is, the first segment 401 is curved in the shape of a sinusoidal curve.

[0084] By setting the first segment 401 to the shape of a sine curve, the movement of the linkage 60 is relatively smooth. Especially in the direction parallel to the rotation axis m of the cam, the speed change of the linkage 60 is gradual when it changes the direction of movement, so that the movement of the moving part 20 is smooth and natural.

[0085] like Figure 5 As shown, the drive groove 40b includes a second segment 402. On the unfolded surface of the outer peripheral wall 40a, the extending direction of the second segment 402 forms a fourth preset angle with the rotation axis m of the transmission member 40. The fourth preset angle is not 0°.

[0086] On the unfolded surface of the outer peripheral wall 40a, the second segment 402 extends along a straight line. During the rotation of the cam, the movement of the linkage 60 in two mutually perpendicular directions—namely, the movement parallel to the rotation axis m of the transmission member 40 and the movement perpendicular to the rotation axis m of the transmission member 40—is related to the fourth preset angle. When the fourth preset angle is 90°, i.e., the second segment 402 is perpendicular to the rotation axis m, during the rotation of the cam, the linkage 60 does not displace in the direction parallel to the rotation axis m of the cam when it is in the second segment 402. At this time, the movement of the linkage 60 is only affected by the undulation of the outer peripheral wall of the cam, and the linkage 60 moves radially in the cam. This allows the swinging part 50 to drive the movable part 20 to move in different ways, enriching the movement modes of the movable part 20.

[0087] It should be noted that the drive groove can be used to define the motion trajectory of the oscillating component. That is, the motion trajectory of the oscillating component can be adjusted by changing the shape of the drive groove according to actual needs. It can be understood that the first segment 401 and the second segment 402 of the drive groove can be spliced ​​together according to a preset pattern to adjust the motion trajectory of the oscillating component. For example, the first segment 401 and the second segment 402 can be sequentially arrayed and spliced ​​together.

[0088] In some examples, the drive groove 40b may include a first segment 401 and a second segment 402. The end of the second segment 402 is connected to the end of the first segment 401. On the unfolded surface of the outer peripheral wall 40a, the second segment 402 is straight and perpendicular to the rotation axis m of the cam, so that the oscillating member 70 can form more complex movements.

[0089] In this embodiment, the drive groove 40b is an annular groove, meaning that the two ends of the drive groove 40b are connected. This allows the drive member 30 to drive the cam to rotate continuously for more than 360° in a fixed direction, and as the cam rotates, the linkage 60 moves periodically under the action of the annular drive groove 40b, thereby driving the movable part 20 to move periodically through the swinging part 50.

[0090] In other examples, the two ends of the drive groove 40b may not be connected. When the drive member 30 drives the cam to rotate until the linkage 60 moves to the end of the drive groove 40b, the drive member 30 changes the direction of rotation, causing the cam to continue rotating. By driving the cam to rotate reciprocally, the drive member 30 causes the linkage 60 to move reciprocally in the drive groove 40b, thereby driving the movable part 20 to move periodically through the swing part 50.

[0091] Figure 6 This is a schematic diagram of the structure of a cam provided in an embodiment of this disclosure. For example... Figure 6As shown, on the plane perpendicular to the rotation axis of the drive member 30, that is, on the plane of the cam's rotation axis m, the orthographic projection of the cam is irregular. The outer contour of the transmission member 40 includes a first side 41, a second side 42, and a third side 43. One end of the second side 42 is transitionally connected to one end of the first side 41, the other end of the second side 42 is transitionally connected to one end of the third side 43, and the other end of the third side 43 is transitionally connected to the other end of the first side 41. The center of the first side 41 is located on the rotation axis m of the transmission member 40.

[0092] Since the center of the first side 41 is located on the rotation axis m of the cam, the undulation of the outer peripheral wall 40a of the cam is 0 on the first side 41. During the rotation of the cam, when the linkage part 60 is located on the first side 41, the distance between the linkage part 60 and the rotation axis m of the cam remains unchanged, and the displacement of the linkage part 60 in the radial direction of the cam is 0. This makes the movement of the linkage part 60 only affected by the shape of the drive groove 40b, which facilitates the design of the shape of the drive groove 40b and controls the movement trajectory of the linkage part 60, so that the movement of the moving part 20 meets the design requirements.

[0093] The lengths of the second side 42 and the third side 43 can be equal, so that the orthographic projection of the cam on the plane perpendicular to the axis of rotation of the drive member 30 is a symmetrical figure.

[0094] In this embodiment of the disclosure, the second segment 402 of the drive groove 40b is located on the second side 42 and the third side 43, and the first segment 401 is located on the first side 41.

[0095] The second side 42 and the third side 43 are connected to the first side 41 by a rounded transition. The rounded transition between the second side 42 and the third side 43 is beneficial to the setting of the drive groove 40b, making the transition of the drive groove 40b smoother and facilitating the stable movement of the linkage 60.

[0096] Figure 7 This is a schematic diagram of the structure of a cam provided in an embodiment of this disclosure. For example... Figure 7 As shown, the transmission member 40 includes a first transmission part 410 and a second transmission part 420. The first transmission part 410 and the second transmission part 420 are connected to form a drive groove 40b.

[0097] By setting the transmission component 40 into two parts, and connecting the two parts to form the drive groove 40b, the sliding part 62 can be easily installed into the drive groove 40b.

[0098] like Figure 7 As shown, one side of the first transmission part 410 has a first guide groove 410a, and one side of the second transmission part 420 has a second guide groove 420a. Figure 8This is a schematic diagram showing the connection between the first transmission unit and the second transmission unit provided in an embodiment of this disclosure. Figure 8 As shown, the first transmission part 410 and the second transmission part 420 are arranged opposite to each other and connected, and the first guide groove 410a and the second guide groove 420a form a drive groove 40b.

[0099] By providing a first guide groove 410a on the surface of the first transmission part 410 and a second guide groove 420a on the surface of the second transmission part 420, the first guide groove 410a and the second guide groove 420a respectively limit the movement of the linkage part 60 from both sides, restricting the movement of the linkage part 60 in the extending directions of the first guide groove 410a and the second guide groove 420a. During the movement of the linkage part 60 along the drive groove 40b, the bottoms of the first guide groove 410a and the second guide groove 420a apply force to the linkage part 60, pushing it and enabling the linkage part 60 to generate displacement in a direction parallel to the rotation axis m of the cam.

[0100] like Figure 7 As shown, both the first transmission part 410 and the second transmission part 420 have a boss 430 at the center of the surface with the first guide groove 410a and the center of the surface with the second guide groove 420a, respectively. The first guide groove 410a can extend along the edge of the first transmission part 410, and the second guide groove 420a can extend along the edge of the second transmission part 420. Both the first guide groove 410a and the second guide groove 420a are arranged around the boss 430. The boss 430 of the first transmission part 410 and the boss 430 of the second transmission part 420 are connected.

[0101] By providing bosses 430 on the first transmission part 410 and the second transmission part 420 respectively, and connecting the bosses 430, the first guide groove 410a and the second guide groove 420a are spaced a certain distance apart to form a drive groove 40b.

[0102] In some examples, the first transmission part 410 and the second transmission part 420 are detachably connected, for example by screws or by adhesive. In other examples, the first transmission part 410 and the second transmission part 420 may also be an integral structure, for example by injection molding.

[0103] The sliding part 62 is located in the first guide groove 410a and the second guide groove 420a, and cooperates with the first guide groove 410a and the second guide groove 420a. When the cam rotates, the sliding part 62 moves in the first guide groove 410a and the second guide groove 420a. When the sliding part 62 moves to the first section 401 of the drive groove 40b, the inner wall of the first guide groove 410a or the inner wall of the second guide groove 420a exerts a thrust on the sliding part 62, pushing the sliding part 62 and causing the sliding part 62 to move in a direction parallel to the rotation axis m of the cam.

[0104] The inner walls of the first guide groove 410a and the second guide groove 420a can both be arc-shaped concave surfaces, so that they can fit against the surface of the sliding part 62, making the sliding part 62 move more smoothly in the drive groove 40b.

[0105] The first transmission part 410 and the second transmission part 420 can be made of self-lubricating material to reduce the resistance encountered by the linkage part 60 when it moves in the drive groove 40b, making the movement of the linkage part 60 smoother and reducing the wear of the cam and the sliding part 62.

[0106] The robot provided in this disclosure includes a body 10 and, as shown in the embodiments, a body 10 and, as shown in the embodiments, a robot with ... Figures 2-8 The drive mechanism is shown. The drive component 30 of the drive mechanism is connected to the body 10, and one end of the swing component 70 is movably connected to the body 10.

[0107] In this example, the robot also includes a movable part 20, which is connected to the other end of the swing member 70. In other examples, the other end of the swing member 70 can be directly set as the movable part 20, such as the robot's tail or ears.

[0108] When setting the movable part 20, the movable part 20 can be connected to the third part 53 of the swing part 50. It can be sleeved on the outside of the swing part 50 or connected to the end of the swing part 50. The connection can be made according to the specific structure of the robot.

[0109] In this embodiment, the transmission component 40 has a drive groove 40b, and a portion of the swing component 70 is movably connected to the drive groove 40b. When the drive component 30 drives the transmission component 40 to move, the drive groove 40b and the swing component 70 cooperate to cause the portion of the swing component 70 movably connected to the drive groove 40b to move along the drive groove 40b, thereby causing the swing component 70 to swing. By connecting the movable component 20 to the swing component 70, or by directly setting a portion of the swing component 70 as the movable component 20, the movable component 20 of the robot can be driven to move. This drive mechanism has a simple structure, small size, saves space, and has low cost, which helps to reduce production costs.

[0110] Figure 9 This is a partial structural diagram of a robot provided in an embodiment of this disclosure. Figure 9 As shown, the outer wall of the fuselage 10 is connected to a hinge support 101, and the swing member 70 is connected to the hinge support 101.

[0111] By setting a hinge support 101 on the outside of the body 10 and hinged to the hinge part 511 of the swing member 70, the swing member 70 has a greater degree of freedom and a larger range of motion.

[0112] The above description is merely an optional embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A driving mechanism, characterized in that, include: Drive unit (30); A transmission component (40) is connected to the output end of the drive component (30), and the transmission component (40) has a drive groove (40b) that extends circumferentially along the transmission component (40). A swinging component (70) is used to be movably connected to the robot's body (10). A portion of the swinging component (70) is movably connected to the drive groove (40b) and is used to move along the drive groove (40b through the transmission component (40) to drive the swinging component (70) to swing. The transmission component (40) is a disc-shaped cam, and the drive groove (40b) is arranged around the outer peripheral wall (40a) of the cam; On a plane perpendicular to the rotation axis (m) of the transmission member (40), the outer contour of the transmission member (40) includes: a first side (41), a second side (42) and a third side (43). One end of the second side (42) is transitionally connected to one end of the first side (41), and the other end of the second side (42) is transitionally connected to one end of the third side (43). The other end of the third side (43) is transitionally connected to the other end of the first side (41). The first side (41) is an arc edge, and the center of the first side (41) is located on the rotation axis (m) of the transmission member (40). The drive groove (40b) includes a first segment (401) and a second segment (402). The first segment (401) is located on the first side (41), and the second segment (402) is located on the second side (42) and the third side (43). On the unfolded surface of the outer peripheral wall (40a), the first segment (401) extends along a curve, and the second segment (402) extends along a straight line.

2. The driving mechanism according to claim 1, characterized in that, The swing element (70) includes: A swinging part (50) is used to connect to the fuselage (10); The linkage part (60) has opposite ends, one end of which is connected to the swing part (50), and the other end is located in the drive groove (40b).

3. The driving mechanism according to claim 2, characterized in that, The swinging part (50) includes at least: The first part (51) has opposite ends, and one end of the first part (51) is used for movably connecting with the fuselage (10); The second part (52) has opposite ends, and one end of the second part (52) is connected to the other end of the first part (51), and the second part (52) is connected to the linkage part (60); The third part (53) is connected to the other end of the second part (52).

4. The driving mechanism according to claim 3, characterized in that, The center lines of the first part (51) and the second part (52) are coplanar and form a first preset angle; And / or, the centerline of the third part (53) is coplanar with the centerline of the second part (52) and forms a second preset angle.

5. The driving mechanism according to claim 3, characterized in that, The first part (51) has a hinge (511) at one end.

6. The driving mechanism according to any one of claims 2 to 5, characterized in that, The linkage (60) includes: The connecting part (61) has opposite ends, one end of which is connected to the swing part (50); The sliding part (62) is connected to the other end of the connecting part (61) and is located in the drive groove (40b).

7. The driving mechanism according to claim 1, characterized in that, On the unfolded surface of the outer peripheral wall (40a), the first segment (401) is sinusoidal in shape.

8. The driving mechanism according to claim 1, characterized in that, The transmission component (40) includes a first transmission part (410) and a second transmission part (420) disposed opposite to each other, the first transmission part (410) and the second transmission part (420) being connected to form the drive groove (40b).

9. The driving mechanism according to claim 8, characterized in that, The first transmission part (410) has a first guide groove (410a), and the second transmission part (420) has a second guide groove (420a). The first guide groove (410a) and the second guide groove (420a) form the drive groove (40b).

10. The driving mechanism according to claim 1, characterized in that, On the unfolded surface of the outer peripheral wall (40a), the extension direction of at least a portion of the first segment (401) forms a third predetermined angle with the rotation axis (m) of the transmission member (40); and / or, On the unfolded surface of the outer peripheral wall (40a), the extension direction of the second segment (402) forms a fourth preset angle with the rotation axis (m) of the transmission member (40).

11. A robot, characterized in that, Includes a fuselage (10) and a drive mechanism as described in any one of claims 1 to 10; The drive component (30) of the drive mechanism is connected to the body (10), and the swing component (70) is movably connected to the body (10).

12. The robot according to claim 11, characterized in that, The outer wall of the fuselage (10) is connected to a hinge support (101), and the swing member (70) is connected to the hinge support (101).

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